Title :
Robust control of an unmanned underwater vehicle
Author_Institution :
Dept. of Aerosp., Power & Sensors, Cranfield Univ., UK
Abstract :
The paper briefly describes the design of a robust controller for an unmanned underwater vehicle (UUV) using polynomial eigenstructure assignment. The controller decouples the vertical motion and the pitching motion of the UUV using a first order dynamic feedback structure. A simulation of the vehicle is described and the results of the closed loop step response are shown
Keywords :
closed loop systems; control system synthesis; eigenstructure assignment; feedback; multivariable control systems; robust control; step response; underwater vehicles; closed loop systems; dynamic feedback; eigenstructure assignment; multivariable control systems; polynomial matching; robust control; step response; unmanned underwater vehicle; Aerodynamics; Attitude control; Control systems; Polynomials; Remotely operated vehicles; Robust control; Robustness; Sensor arrays; Underwater vehicles; Vehicle dynamics;
Conference_Titel :
Decision and Control, 1998. Proceedings of the 37th IEEE Conference on
Conference_Location :
Tampa, FL
Print_ISBN :
0-7803-4394-8
DOI :
10.1109/CDC.1998.757830
